CN110510020B

CN110510020B - Deformation heightening method for crawler chassis

Info

Publication number: CN110510020B
Application number: CN201910951588.1A
Authority: CN
Inventors: 张勤
Original assignee: Fangcheng And Hong Kong And Macao Grain & Oil Industry Co ltd
Current assignee: Guangxi Beibu Gulf grain and oil technology research Co.,Ltd.
Priority date: 2019-10-09
Filing date: 2019-10-09
Publication date: 2020-12-01
Anticipated expiration: 2039-10-09
Also published as: CN110510020A

Abstract

The invention provides a deformation heightening method of a crawler chassis, which comprises the following steps: firstly, the track is quadrangular, the ground clearance of the chassis frame is small, the advancing driving mechanism drives the driving wheel to rotate, and the track wheel enables the whole bearing machine to advance on a flat outdoor ground; then, when the crawler wheel needs to integrally move on a rugged outdoor ground bearing machine, the deformation driving mechanism transmits power to the deformation screw rod and drives the deformation screw rod to rotate, the deformation screw rod rotates to enable the deformation sliding blocks to mutually approach and slide, the push-pull rod pulls the I-shaped frames which are symmetrically arranged up and down to mutually separate and rotate around the movable shaft until the two I-shaped frames form a flat angle, the mounting block vertically moves upwards, the chassis frame synchronously moves upwards and the ground clearance is increased, and meanwhile, the tensioning mechanism outwards supports the crawler and enables the crawler to be converted into a hexagon from a quadrangle; and finally, the advancing driving mechanism drives the driving wheel to rotate, and the crawler wheel enables the whole bearing machine to advance on the high and low outdoor ground.

Description

Deformation heightening method for crawler chassis

Technical Field

The invention relates to a crawler chassis, in particular to a deformation heightening method of the crawler chassis.

Background

The crawler chassis has very wide application, has very obvious rigidity and strength compared with the common tire chassis, has severe walking environment and is mostly outdoor terrain, so the crawler chassis is applied to agricultural machinery, military machinery and outdoor exploration and survey machinery, such as harvesters, tractors, rice transplanters, tanks, outdoor exploration and survey robots and the like, after search, the crawler chassis mainly comprises crawler wheels which are arranged in bilateral symmetry and a chassis frame which is fixedly connected with the crawler wheels, the crawler wheels mainly comprise crawler belts, driving wheels, supporting belt wheels and tensioning devices, the crawler belts are wound on the driving wheels, the supporting belt wheels and the tensioning devices and are rectangular or in a forward-inclined parallelogram shape, the current crawler chassis has the defects that the shape of the crawler wheels is fixed and cannot be deformed, so that the ground clearance of the chassis frame is constant, the chassis frame travels on the outdoor ground with poor performance, particularly on the high and low fluctuating ground, in order to solve the problems pointed out by the defects, the invention needs to provide the variable track chassis for the outdoor cross country, which has the advantages of ingenious structure, simple principle, adjustable ground clearance of the chassis frame and strong passing performance.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to provide the deformation heightening method of the crawler chassis, which has the advantages of ingenious structure, simple principle, adjustable ground clearance of the chassis frame and strong passing performance.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows.

A deformation heightening method of a crawler chassis comprises the following steps:

a normal advancing stage;

s1: the crawler belt is quadrangular in an initial state, the ground clearance of the chassis frame is small, at the moment, the advancing driving mechanism transmits power to the driving wheel and drives the driving wheel to rotate, and the crawler wheel is suitable for the whole bearing machine to advance on a flat outdoor ground;

the crawler wheels comprise a left crawler wheel and a right crawler wheel which are arranged in a bilateral symmetry way, the left crawler wheel is fixedly connected with one end of the chassis frame, the right crawler wheel is fixedly connected with the other end of the chassis frame, the crawler wheels comprise driving wheel combinations which are arranged in a front-back symmetry way, and tensioning mechanisms which are arranged in a front-back symmetry way, the driving wheel combination consists of driving wheels which are symmetrically arranged up and down, the tensioning mechanism is arranged between the driving wheels which are symmetrically arranged up and down and is abutted against the crawler, the supporting mechanism is arranged between the driving wheels which are symmetrically arranged front and back and is abutted against the crawler, the tensioning mechanism is used for tensioning the crawler, the supporting mechanism is used for supporting/supporting the crawler, the crawler is meshed with the driving wheels, and the crawler is set to be switched between a quadrangle and a hexagon and is in a quadrangle in an initial state;

the crawler wheel also comprises a mounting block which is arranged horizontally in a rectangular shape, the length direction of the mounting block is parallel to the advancing direction of the crawler wheel, the mounting block comprises a first rectangular mounting block, a second rectangular mounting block and a third oval mounting block which are fixedly connected into a whole, the second mounting block is provided with two mounting blocks and is positioned at one end of the first mounting block in the length direction, the third mounting block is provided with two mounting blocks and is positioned at one end of the second mounting block, which is deviated from the first mounting block, the length direction of the first mounting block and the second mounting block is parallel to the advancing direction of the crawler wheel, the width direction of the first mounting block is vertically arranged, the width direction of the first mounting block is larger than that of the second mounting block, the major axis direction of the oval where the third mounting block is located is vertically arranged, the minor axis direction of the, the driving wheel assembly is arranged on the mounting block III, and the chassis frame is fixedly connected with the lower end face of the mounting block I;

the mounting block III is provided with a first penetrating oval mounting groove along the distance direction of the crawler wheels, openings at two ends of the first mounting groove are provided with sealing end covers matched with the first mounting groove, the first mounting groove and the first end cover jointly form a first mounting inner cavity, a first movable shaft with the axial direction parallel to the distance direction of the two crawler wheels is rotatably arranged between the two end covers, the first movable shaft is provided with two movable shafts which are vertically and symmetrically arranged, the end position of the first movable shaft along the axial direction penetrates through the end covers and extends to the outside of the first mounting inner cavity, a rectangular I-shaped frame is rotatably sleeved on the end position of the first movable shaft along the axial direction, one end of the I-shaped frame along the length direction forms an opening I and the other end forms an opening II, the opening I is clamped at the outer sides of the two end covers and is rotatably connected and matched with the first movable shaft, a second movable shaft with the axial direction parallel to the second movable shaft is rotatably arranged between, the driving wheel is coaxially and fixedly sleeved on the second movable shaft and is provided with double wheels, the included angle formed by the I-shaped frames which are vertically and symmetrically arranged and deviate from the second mounting block is an acute angle in the initial state, and the two I-shaped frames which are vertically and symmetrically arranged can be separated from each other around the first movable shaft and rotated and unfolded until the two I-shaped frames form a flat angle;

(II) heightening and advancing;

s2: when the crawler wheel needs to integrally move on a high and low outdoor ground bearing machine, at the moment, the deformation driving mechanism transmits power to the deformation screw rod and drives the deformation screw rod to rotate, the deformation screw rod rotates and drives the deformation sliding blocks to mutually approach and slide along the two mounting blocks, the push-pull rod pulls the vertically and symmetrically arranged I-shaped frames to mutually separate and rotate around the movable shaft I until the two I-shaped frames form a flat angle, the mounting blocks vertically move upwards, and the chassis frame synchronously moves upwards and increases the height above the ground;

the crawler wheel further comprises a deformation sliding block sleeved outside the mounting block II, the deformation sliding block and the mounting block II form sliding guide fit along the advancing direction of the crawler wheel, push-pull rods for connecting the upper end face of the deformation sliding block and the middle position of the I-shaped frame positioned above along the length direction of the I-shaped frame, and between the lower end face of the deformation sliding block and the middle position of the I-shaped frame positioned below along the length direction of the I-shaped frame are respectively arranged, one end of each push-pull rod is hinged with the upper end face/lower end face of the deformation sliding block, the axial direction of each hinge shaft is parallel to the axial direction of the corresponding movable shaft I, the other end of each hinge shaft is hinged with the middle position of the I-shaped frame along the length direction of the corresponding I-shaped frame, the axial direction of each hinge shaft is parallel to the axial direction of the corresponding movable shaft I, the mounting block I and the mounting block II, the deformation screw rod comprises a forward thread section, a smooth section and a reverse thread section which are equal in length from one end to the other end along the axial direction of the deformation screw rod, wherein one deformation sliding block and the forward thread section of the deformation screw rod form threaded connection fit, the other end deformation sliding block and the reverse thread section of the deformation screw rod form threaded connection fit,

the deformation screw rod is driven to rotate, so that the deformation sliding blocks slide along the two mounting blocks in a mutually approaching mode, the push-pull rod pulls the upper I-shaped frame and the lower I-shaped frame to rotate around the movable shaft I in a mutually departing mode until the two I-shaped frames form a flat angle, and therefore the four sides of the crawler are deformed into a hexagon;

s3: the tensioning mechanism supports the crawler belt outwards and enables the crawler belt to be changed into a hexagon from a quadrangle, and the crawler wheel and the chassis frame both have good passing performance;

the tensioning mechanism comprises rectangular movable blocks which are arranged outside the end covers and form sliding guide fit with the end covers, the length direction of each movable block is parallel to the advancing direction of the crawler wheel, a guide assembly for connecting the movable blocks and the end covers is arranged between the movable blocks and the end covers, each guide assembly comprises a guide bulge arranged on the outer side of the end cover and a guide sliding groove arranged on each movable block, the guide sliding grooves and the guide bulges form sliding guide fit along the advancing direction of the crawler wheel, a movable shaft III axially parallel to the axial direction of the movable shaft is rotatably arranged between the two movable blocks, the movable shaft III is positioned at one end of the movable block far away from the mounting block, a tensioning wheel is coaxially fixedly sleeved on the movable shaft III in a sleeved mode, two tensioning wheels are arranged in parallel, the tensioning wheels are positioned between the two movable blocks and are abutted against the crawler, and in the initial state, the two tensioning wheels are positioned between the driving wheels which are;

the tensioning mechanism further comprises a sleeve fixedly connected with one end of the mounting block III, which is far away from the mounting block II, an opening at one end of the sleeve is arranged, the axial direction of the sleeve is parallel to the advancing direction of the crawler wheel, the opening end of the sleeve is oppositely arranged with the movable shaft, a sleeving block is movably sleeved outside the movable shaft III, a supporting rod which is coaxially arranged with the sleeve is fixedly arranged on the sleeving block, the supporting rod is movably inserted in the sleeve, the supporting rod and the sleeve form sliding guide fit along the advancing direction parallel to the crawler wheel, a tensioning spring is movably arranged in the sleeve, one end of the tensioning spring is abutted against the bottom of the sleeve, the other end of the tensioning spring is abutted against the supporting rod, and the elasticity of the tensioning spring is;

the upper side and the lower side of the movable block are respectively provided with a hinged connecting rod, the hinged connecting rods comprise a first hinged rod and a second hinged rod, the end parts of the first hinged rod and the second hinged rod are hinged and connected with each other, the axial direction of the hinged shaft is parallel to the axial direction of the first movable shaft, the other end of the first hinged rod is rotatably sleeved on the first movable shaft, the other end of the second hinged rod is hinged and connected with the upper side face/lower side face of one end, away from the mounting block, of the movable block, and the axial direction of;

the tensioning mechanism is used for tensioning the crawler belt and enabling the crawler belt to be meshed with and tensioned with the driving wheels, specifically, the elastic potential energy of the tensioning spring is gradually released and pushes the supporting rod to slide towards the outside of the sleeve, the supporting rod pushes the movable shaft III to deviate from the mounting block III to move, the tensioning wheel is enabled to be abutted and extruded with the crawler belt, one side is used for tensioning the crawler belt, on the other hand, the crawler belt is enabled to be changed into a hexagon from a quadrangle, and the climbing capacity of the crawler belt wheel is improved;

s4: the advancing driving mechanism transmits power to the driving wheel and drives the driving wheel to rotate, and the crawler wheel is suitable for the whole bearing machine to advance on the high and low outdoor ground.

As a further optimization or improvement of the present solution.

The supporting mechanism comprises a rectangular fixed block fixedly arranged on the upper end face/lower end face of the mounting block, the length direction of the fixed block is parallel to the advancing direction of the crawler wheels, the width direction of the fixed block is parallel to the distance direction of the two crawler wheels, rectangular inner sunken grooves and sliding grooves are formed in the upper end face/lower end face of the fixed block along the length direction of the fixed block, the sliding grooves are provided with two brackets which are respectively positioned on one side of the inner sunken grooves, the middle part of the groove bottom of each inner sunken groove along the length direction of the groove bottom of the inner sunken groove is hinged and provided with a bracket which extends outwards, the axial direction of the hinged shaft is parallel to the width direction of the fixed block, the two brackets are symmetrically arranged along the width direction of the fixed block, the two brackets positioned above the fixed block form a V-shaped structure with an upward opening, the two brackets positioned below the fixed block form a V-shaped structure with a downward opening, two supporting wheels are arranged in parallel along the axial direction of the supporting wheels, and the supporting wheels are abutted to the crawler.

As a further optimization or improvement of the present solution.

The supporting mechanism further comprises a sliding block which is arranged on one side of the support and forms sliding guide fit with the sliding groove, a vertical upward/vertical downward extending vertical block is fixedly arranged on the movable block, a guide assembly which is arranged along the vertical direction is arranged between the vertical block and the side face of the support, the guide assembly comprises a guide sliding groove which is arranged on the vertical block and vertically arranged, and a guide protrusion which is fixedly arranged on the side face of the support along the middle position of the extending direction, the guide sliding groove and the guide protrusion form sliding guide fit along the vertical direction, a fixed cylinder which is fixedly connected with the sliding block and is arranged with one end opening is arranged between the sliding block and the sliding groove, the fixed cylinders are movably arranged in the sliding groove, the openings of the two fixed cylinders which are symmetrically arranged in the left-right direction are mutually deviated, a supporting spring is arranged between the side walls of the fixed cylinders and the sliding groove along the length direction, one end, The other end of the sliding groove is abutted against the side wall of the sliding groove along the length direction of the sliding groove, and the elasticity of the supporting spring always pushes the two fixed cylinders which are symmetrically arranged left and right to move close to each other.

As a further optimization or improvement of the present solution.

The power driving device further comprises a second mounting groove and a third mounting groove which are fixedly arranged on the first mounting block and penetrate through the first mounting groove and the third mounting groove along the spacing direction of the crawler wheels, a cover plate used for sealing openings of the second mounting groove and the third mounting groove is installed on the side face of the first mounting block in a specified mode, the second mounting groove and the cover plates on the two sides form a second mounting inner cavity, the third mounting groove and the cover plates on the two sides form a third mounting inner cavity, and a bracket is fixedly arranged on the cover plate on the inner side.

As a further optimization or improvement of the present solution.

The advancing driving mechanism comprises a first transmission shaft, a second transmission shaft and a third transmission shaft, wherein the first transmission shaft is rotatably arranged between the bracket and the second installation inner cavity, the second transmission shaft is rotatably arranged in the second installation inner cavity, the third transmission shaft is rotatably arranged in the first installation inner cavity, the axial directions of the first transmission shaft, the second transmission shaft and the third transmission shaft are parallel to each other, the axial direction of the first transmission shaft is parallel to the distance direction of the crawler wheels, the output end of the first transmission shaft is positioned in the second installation inner cavity, the drive end of the first transmission shaft is positioned outside the second installation inner cavity, the drive end of the first transmission shaft is connected with the output end of the first power source, the second transmission shaft is provided with two transmission shafts which are symmetrically arranged along the axial direction of the first transmission shaft, the two ends of the second transmission shaft along the axial direction of the second, the second transmission shaft corresponds to the third transmission shaft one by one, the first transmission shaft is used for transmitting power to the second transmission shaft and driving the second transmission shaft to rotate around the axis of the second transmission shaft, and the second transmission shaft is used for transmitting power to the third transmission shaft and driving the third transmission shaft to rotate around the axis of the second transmission shaft;

the advancing driving mechanism also comprises a first driving gear and a first driven gear, wherein the first driving gear is coaxially and fixedly sleeved on the output end of the first transmission shaft, the first driven gear is coaxially and fixedly sleeved on the second transmission shaft, the first driving gear and the first driven gear are both positioned in the second installation cavity, the first driving gear is engaged with the second driving gear, a first belt transmission assembly is arranged between the output end of the second transmission shaft and the third driving end of the transmission shaft, the first belt transmission assembly comprises a first driving belt wheel, a first driven belt wheel and a first belt wheel, the first driving belt wheel is coaxially and fixedly sleeved on the output end of the second transmission shaft, the first driven belt wheel is coaxially and fixedly sleeved on the third transmission shaft, the first belt wheel is arranged between the first driving belt wheel and the first driven belt wheel and is used for connecting the first driving belt wheel and the first driven belt wheel, the, the advancing driving mechanism further comprises a second belt transmission assembly arranged between one end position of the movable shaft and the other end position of the movable shaft, the second belt transmission assembly comprises a second driving belt wheel coaxially fixedly sleeved on one end position of the movable shaft, a second driven belt wheel coaxially fixedly sleeved on the other end position of the movable shaft and a second belt wheel arranged between the second driving belt wheel and the second driven belt wheel and used for connecting the second driving belt wheel and the second driven belt wheel.

As a further optimization or improvement of the present solution.

The deformation driving mechanism comprises a transmission shaft five which is coaxially and rotatably arranged between the bracket and the mounting inner cavity three, a hollow transmission shaft four which is coaxially and rotatably sleeved outside the transmission shaft one, the axial direction of the transmission shaft five is parallel to the axial direction of the transmission shaft four, the output end of the transmission shaft five is positioned in the mounting inner cavity three, the driving end is positioned outside the mounting inner cavity three, the smooth section of the deformation screw rod movably penetrates through the mounting inner cavity three, a driving gear three is coaxially and fixedly sleeved on the output end of the transmission shaft five, a driven gear three is coaxially and fixedly sleeved on the smooth section of the deformation screw rod, the driving gear three and the driven gear three are positioned in the mounting inner cavity three, the driving gear three and the driven gear three are helical gears and are mutually meshed with each other, a belt transmission assembly three is arranged between the output end of the transmission shaft four and the driving end of the transmission shaft, The coaxial fixing sleeve is connected with a third driven belt wheel on the driving end of the fifth transmission shaft and a third belt which is arranged between the third driving belt wheel and the third driven belt wheel and used for connecting the third driving belt wheel and the third driven belt wheel, and the driving end of the fourth transmission shaft is connected with the output end of the second power source.

Compared with the prior art, the crawler wheel type ground clearance adjusting mechanism has the advantages that the crawler wheel type ground clearance adjusting mechanism is ingenious in structure and simple in principle, the shape of the crawler wheel can be switched between a quadrilateral shape and a hexagonal shape, the ground clearance of the chassis frame can be adjusted, when outdoor road conditions are smooth, the crawler wheel is rectangular, the ground clearance of the chassis frame is smaller, the center of gravity of the whole machine is reduced, and the stability of the whole machine can be kept; when the height fluctuation of outdoor road conditions is poor, the crawler wheel changes into the hexagon, the ground clearance of chassis frame is great, and the chassis frame has good trafficability characteristic, and simultaneously, the crawler wheel has good climbing ability, causes the whole machine to have stronger trafficability characteristic.

Drawings

FIG. 1 is a schematic structural diagram of an initial state of the present invention.

Fig. 2 is a structural schematic diagram of a deformed state of the present invention.

Fig. 3 is an exploded view of the initial state of the present invention.

Fig. 4 is an exploded view of the deformed state of the present invention.

Fig. 5 is a matching view of the crawler wheel and the power driving device.

Fig. 6 is a matching view of the crawler wheel and the power driving device.

Fig. 7 is a schematic structural view of the track wheel.

Fig. 8 is a partial structural schematic view of the track wheel.

Fig. 9 is a partial structural schematic view of the track wheel.

Fig. 10 is a partial structural schematic view of the track wheel.

Fig. 11 is a schematic structural view of the jig.

FIG. 12 is a connection diagram of the jig frame and the driving wheel.

Fig. 13 is a partially exploded schematic view of the track wheel.

Fig. 14 is a schematic structural view of the tensioning mechanism.

Fig. 15 is a schematic structural view of the tensioning mechanism.

Fig. 16 is a partial structural view of the tension mechanism.

Fig. 17 is a partial exploded schematic view of the tensioning mechanism.

Fig. 18 is an exploded schematic view of the tensioning mechanism.

Fig. 19 is a view of the support mechanism in cooperation with the track.

Fig. 20 is a schematic view of the entire structure of the support mechanism.

Fig. 21 is a partial structural view of the support mechanism.

Fig. 22 is a partial structural view of the support mechanism.

Fig. 23 is a partial structural view of the support mechanism.

Fig. 24 is a view showing the track wheel in cooperation with a travel driving mechanism and a deformation driving mechanism.

Fig. 25 is a partial schematic structural view of the power drive device.

Fig. 26 is a view showing the cooperation of the travel drive mechanism and the drive wheel.

Fig. 27 is a view showing the cooperation of the travel drive mechanism and the drive wheel.

Fig. 28 is a partial structural view of the travel drive mechanism.

Fig. 29 is a view showing the engagement of the strain drive mechanism with the strain lead screw.

Fig. 30 is a view showing the engagement of the strain drive mechanism with the strain lead screw.

Detailed Description

a normal advancing stage;

s1: in the initial state, the track 210 is quadrangular and the ground clearance of the chassis frame 100 is small, at this time, the traveling driving mechanism 310 transmits power to the driving wheel 206 and drives the driving wheel 206 to rotate, and the track wheel 200 is suitable for the whole load-bearing machine to travel on a flat outdoor ground;

the crawler wheel 200 comprises a left crawler wheel and a right crawler wheel which are symmetrically arranged left and right, the left crawler wheel is fixedly connected with one end of the chassis frame 100, the right crawler wheel is fixedly connected with the other end of the chassis frame 100, the crawler wheel 200 comprises a driving wheel combination which is symmetrically arranged front and back, a tensioning mechanism 220 which is symmetrically arranged front and back, a supporting mechanism 230 which is symmetrically arranged up and down, and a crawler 210 which is wound on the driving wheel 206, the tensioning mechanism 220 and the supporting mechanism 230, the driving wheel combination is composed of driving wheels 206 which are symmetrically arranged up and down, the tensioning mechanism 220 is arranged between the driving wheels 206 which are symmetrically arranged up and down and is contacted with the crawler 210, the supporting mechanism 230 is arranged between the driving wheels 206 which are symmetrically arranged front and back and is contacted with the crawler 210, the tensioning mechanism 220 is used for tensioning the crawler 210, the supporting mechanism 230 is used for supporting/, the crawler 210 is provided to switch between a quadrangle and a hexagon and is a quadrangle in an initial state;

the crawler wheel 200 further comprises a rectangular horizontally-arranged mounting block 201, the length direction of the mounting block 201 is parallel to the advancing direction of the crawler wheel 200, the mounting block 201 comprises a first rectangular mounting block 201a, a second rectangular mounting block 201b and a third oval mounting block 201c which are fixedly connected into a whole, the second mounting block 201b is provided with two ends which are located at the length direction of the first mounting block 201a, the third mounting block 201c is provided with two ends which are located at the end, away from the first mounting block 201a, of the second mounting block 201b, the length directions of the first mounting block 201a and the second mounting block 201b are parallel to the advancing direction of the crawler wheel 200, the width direction of the first mounting block 201a is vertically arranged and is larger than the width of the second mounting block 201b, the major axis direction of an oval where the third mounting block 201c is located is vertically arranged, the minor axis direction of the oval is parallel to the advancing direction of the crawler wheel 200, and the major axis length, the driving wheel assembly is arranged on the third mounting block 201c, and the chassis frame 100 is fixedly connected with the lower end face of the first mounting block 201 a;

the mounting block III 201c is provided with a first penetrating oval mounting groove 202a along the distance direction of the crawler wheels 200, openings at two ends of the first mounting groove 202a are provided with sealing end covers 202b matched with the first mounting groove, the first mounting groove 202a and the end covers 202b jointly form a first mounting inner cavity, a first movable shaft 203 which is axially parallel to the distance direction of the two crawler wheels 200 is rotatably arranged between the two end covers 202b, the first movable shaft 203 is provided with two vertically symmetrical arrangements, the end position of the first movable shaft 203 along the axial direction penetrates through the end covers 202b and extends to the outside of the first mounting inner cavity, a rectangular I-shaped frame 204 is rotatably sleeved on the end position of the first movable shaft 203 along the axial direction, one end of the I-shaped frame 204 along the length direction forms an opening I204 a, the other end forms an opening II 204b, the opening I204 a is clamped at the outer sides of the two end covers 202b and is rotatably, a second movable shaft 205 axially parallel to the second movable shaft 203 is rotatably arranged between the second opening 204b, the second movable shaft 205 extends to the outer side of the I-shaped frame 204 along the axial end position of the second movable shaft 205, the driving wheel 206 is coaxially and fixedly sleeved on the second movable shaft 205 and is provided with double wheels, an included angle formed by the I-shaped frames 204 which are vertically and symmetrically arranged and depart from the second mounting block 201b is an acute angle in an initial state, and the two I-shaped frames 204 which are vertically and symmetrically arranged can be away from each other around the first movable shaft 203 and can be rotated and unfolded until the two I-shaped frames 204 form a flat angle;

(II) heightening and advancing;

s2: when the crawler wheel 200 needs to integrally move on an outdoor ground bearing machine with fluctuating height, at the moment, the deformation driving mechanism 320 transmits power to the deformation screw rod 209 and drives the deformation screw rod 209 to rotate, the deformation screw rod 209 rotates and drives the deformation sliding block 207 to mutually approach and slide along the second mounting block 201b, the push-pull rod 208 pulls the I-shaped frames 204 which are symmetrically arranged up and down to mutually move away and rotate around the first movable shaft 203 until the I-shaped frames 204 form a flat angle, the mounting block 201 vertically moves upwards, and the chassis frame 100 synchronously moves upwards and the ground clearance height is increased;

the crawler wheel 200 further comprises a deformation sliding block 207 sleeved outside the second mounting block 201b, the deformation sliding block 207 and the second mounting block 201b are in sliding guiding fit along the advancing direction of the crawler wheel 200, a push-pull rod 208 for connecting the upper end surface of the deformation sliding block 207 and the middle position of the upper I-shaped frame 204 along the length direction thereof, and a lower end surface of the deformation sliding block 207 and the middle position of the lower I-shaped frame 204 along the length direction thereof are arranged between the upper end surface of the deformation sliding block 207 and the middle position of the lower I-shaped frame 204 along the length direction thereof, one end of the push-pull rod 208 is hinged with the upper end surface/lower end surface of the deformation sliding block 207, the axial direction of a hinge shaft is parallel to the axial direction of the first movable shaft 203, the axial direction of the hinge shaft is hinged with the middle position of the I-shaped frame 204 along the length direction thereof, the first mounting block 201a and the second mounting block 201b are arranged in a hollow manner, and a deformation screw rod which 209, the deformation screw rod 209 comprises a forward thread section, a smooth section and a reverse thread section which are equal in length from one end to the other end along the axial direction, wherein one deformation sliding block 207 and the forward thread section of the deformation screw rod 209 form a threaded connection fit, the other end deformation sliding block 207 and the reverse thread section of the deformation screw rod 209 form a threaded connection fit,

the deformation screw rod 209 is driven to rotate, so that the deformation sliding blocks 207 slide along the second mounting blocks 201b to be close to each other, the push-pull rod 208 pulls the upper and lower tooling frames 204 to rotate around the first movable shaft 203 to be away from each other until the two tooling frames 204 form a straight angle, and the four sides of the crawler 210 are deformed into a hexagon;

s3: the tensioning mechanism 220 will support the track 210 outwards and transform the track 210 from a quadrilateral shape to a hexagonal shape, and the track wheel 200 and the chassis frame 100 both obtain good passing performance;

the tensioning mechanism 220 comprises a rectangular movable block 221 which is arranged outside the end cover 202b and forms sliding guide fit with the end cover 202b, the length direction of the movable block 221 is parallel to the advancing direction of the track wheel 200, a guide assembly for connecting the movable block 221 and the end cover 202b is arranged between the two, the guide assembly comprises a guide protrusion 202c arranged on the outer side of the end cover 202b and a guide sliding groove 222 arranged on the movable block 221, the guide sliding groove 222 and the guide protrusion 202c form sliding guide fit along the advancing direction of the track wheel 200, a movable shaft three 223 axially parallel to the axial direction of the movable shaft one 203 is rotatably arranged between the two movable blocks 221, the movable shaft three 223 is positioned at one end of the movable block 221, which is far away from the mounting block three 201c, a tensioning wheel 224 is coaxially and fixedly sleeved on the movable shaft three 223, two tensioning wheels 224 are arranged in parallel, the tensioning wheel 224 is positioned between the two movable blocks 221, and, in the initial state, the two tension wheels 224 are positioned between the driving wheels 206 which are symmetrically arranged up and down, and the outer edges of the tension wheels 224 are flush with the outer edges of the driving wheels 206 up and down;

the tensioning mechanism 220 further comprises a sleeve 227 fixedly connected with one end of the mounting block III 201c, which is far away from the mounting block II 201b, one end of the sleeve 227 is open and arranged, and the axial direction of the sleeve 227 is parallel to the advancing direction of the track wheel 200, the open end of the sleeve 227 is arranged opposite to the movable shaft III 223, a sleeve connecting block 225 is movably sleeved outside the movable shaft III 223, a supporting rod 226 which is coaxially arranged with the sleeve 227 is fixedly arranged on the sleeve connecting block 225, the supporting rod 226 is movably inserted in the sleeve 227 and forms sliding guide fit along the advancing direction parallel to the track wheel 200, a tensioning spring 228 is movably arranged in the sleeve 228, one end of the tensioning spring 228 is abutted against the bottom of the sleeve 227, the other end of the tensioning spring is abutted against the supporting rod 226, and the elastic force of the tensioning spring 228 is directed to;

the upper side and the lower side of the movable block 221 are both provided with a hinge connecting rod 229, the hinge connecting rod 229 comprises a first hinge rod and a second hinge rod, the end parts of the first hinge rod and the second hinge rod are hinged to each other, the axial direction of the hinge shaft is parallel to the axial direction of the first movable shaft 203, the other end of the first hinge rod is rotatably sleeved on the first movable shaft 203, the other end of the second hinge rod is hinged to the upper side/lower side face of one end, away from the first mounting block 201a, of the movable block 221, and the axial direction of the hinge shaft is parallel to;

in the initial state, two tension wheels 224 are positioned between the driving wheels 206 which are symmetrically arranged up and down, and the outer edges of the tension wheels 224 are flush with the outer edges of the driving wheels 206 up and down, so that the track 210 is quadrilateral in the initial state, when the I-shaped frames 204 which are symmetrically arranged up and down rotate away from each other around the first movable shaft 203 until the I-shaped frames 204 form a flat angle, in the process, the track 210 is loosened, the tensioning mechanism 220 tensions the track 210 and enables the track 210 to be meshed with the driving wheels 206 for tensioning, specifically, the elastic potential energy of the tensioning spring 228 is gradually released and pushes the supporting rod 226 to slide towards the outside of the sleeve 227, the supporting rod 226 pushes the third movable shaft 223 to move away from the three mounting blocks 201c, the tension wheels 224 and the track 210 are pressed against each other, on one hand, the track 210 is tensioned, on the other hand, the, increasing the climbing ability of the track wheel 200;

s4: the travel drive mechanism 310 transmits power to the drive wheel 206 and rotates the drive wheel 206, and the track wheel 200 is suitable for the load-bearing machine to travel on the outdoor ground with high and low undulations as a whole.

A variable crawler chassis for outdoor cross-country comprises a chassis frame 100 and crawler wheels 200 arranged at a distance from the ground, wherein each crawler wheel 200 comprises a left crawler wheel and a right crawler wheel which are symmetrically arranged at the left and right, the left crawler wheel is fixedly connected with one end of the chassis frame 100, the right crawler wheel is fixedly connected with the other end of the chassis frame 100, each crawler wheel 200 comprises a driving wheel combination which is symmetrically arranged at the front and the back, tensioning mechanisms 220 which are symmetrically arranged at the front and the back, supporting mechanisms 230 which are symmetrically arranged at the top and the bottom, and a crawler 210 which is wound on the driving wheels 206, the tensioning mechanisms 220 and the supporting mechanisms 230, the driving wheel combination is composed of driving wheels 206 which are symmetrically arranged at the top and the bottom, the tensioning mechanisms 220 are arranged between the driving wheels 206 which are symmetrically arranged at the top and the bottom and are abutted against the crawler 210, the supporting mechanisms 230 are arranged between the driving wheels, the support mechanism 230 is used for supporting the track 210, the track 210 is meshed with the driving wheel 206, the track 210 is arranged to be switched between a quadrilateral shape and a hexagonal shape, the initial state is the quadrilateral shape, and when the track 210 is the quadrilateral shape, the ground clearance of the chassis frame 100 is the minimum; when the crawler belt 210 is hexagonal, the height of the chassis frame 100 from the ground is the largest, and the crawler belt 210 is switched between the quadrangular shape and the hexagonal shape by controlling the distance between the driving wheels 206 which are symmetrically arranged up and down.

In order to facilitate the installation of the driving wheel 206, the track wheel 200 further comprises a rectangular horizontally arranged mounting block 201, the length direction of the mounting block 201 is parallel to the traveling direction of the track wheel 200, the mounting block 201 comprises a first rectangular mounting block 201a, a second rectangular mounting block 201b and a third oval mounting block 201c, the first rectangular mounting block 201a, the second rectangular mounting block 201b and the third oval mounting block 201c are fixedly connected into a whole, the second rectangular mounting block 201b is provided with two ends which are located at one end of the first mounting block 201a in the length direction, the third mounting block 201c is provided with two ends which are located at the end of the second mounting block 201b opposite to the first mounting block 201a, the length directions of the first mounting block 201a and the second mounting block 201b are parallel to the traveling direction of the track wheel 200, the width direction of the first mounting block 201a is vertical, the minor axis direction of the oval where the third mounting block 201c is located is vertical, the minor axis direction is parallel to the, the driving wheel assembly is arranged on the mounting block III 201c, and the chassis frame 100 is fixedly connected with the lower end face of the mounting block I201 a.

Specifically, a first through oval mounting groove 202a is formed in the mounting block three 201c along the distance direction of the crawler wheels 200, sealing end covers 202b matched with the first through oval mounting groove 202a are arranged at openings at two ends of the first mounting groove 202a, the first mounting groove 202a and the first end cover 202b together form a first mounting cavity, a first movable shaft 203 axially parallel to the distance direction of the two crawler wheels 200 is rotatably arranged between the two end covers 202b, the first movable shaft 203 is provided with two vertically symmetrical end covers, the position of the axial end of the first movable shaft 203 penetrates through the end cover 202b and extends to the outside of the first mounting cavity, a rectangular I-shaped frame 204 is rotatably sleeved on the axial end of the first movable shaft 203, an opening 204a is formed at one end of the I-shaped frame 204 along the length direction, an opening two 204b is formed at the other end of the I-shaped frame, the opening 204a is clamped at the outer sides of the two end covers 202, a second movable shaft 205 axially parallel to the second movable shaft 203 is rotatably arranged between the second open end 204b, the second movable shaft 205 extends to the outer side of the I-shaped frame 204 along the axial end position of the second movable shaft 205, the driving wheel 206 is coaxially and fixedly sleeved on the second movable shaft 205, the driving wheel 206 is arranged into two wheels, an included angle formed by the I-shaped frames 204 which are vertically and symmetrically arranged and depart from the second mounting block 201b is an acute angle in an initial state, the two I-shaped frames 204 which are vertically and symmetrically arranged can be separated from each other around the first movable shaft 203 and rotatably unfolded until the two I-shaped frames 204 form a flat angle, the I-shaped frames 204 which are vertically and symmetrically arranged are separated from each other around the first movable shaft 203 and rotate to form a flat angle, on one hand, the mounting block 201 is moved upwards, the bottom plate frame 100 is driven to move upwards, the ground clearance of the bottom plate frame.

More specifically, in order to facilitate the upper and lower i-shaped frames 204 to rotate away from each other around the first movable shaft 203, the track wheel 200 further includes a deformation slider 207 sleeved outside the second mounting block 201b, the deformation slider 207 and the second mounting block 201b form a sliding guiding fit along the traveling direction of the track wheel 200, a push-pull rod 208 for connecting the upper end surface of the deformation slider 207 and the middle position of the upper i-shaped frame 204 along the length direction thereof, and a push-pull rod 208 for connecting the lower end surface of the deformation slider 207 and the middle position of the lower i-shaped frame 204 along the length direction thereof are respectively disposed between the upper end surface of the deformation slider 207 and the middle position of the lower i-shaped frame 204 along the length direction thereof, one end of the push-pull rod 208 is hinged to the upper end surface/lower end surface of the deformation slider 207, the axial direction of the hinge shaft is parallel to the axial direction of the first movable shaft 203, the other, the first mounting block 201a and the second mounting block 201b are arranged in a hollow manner, a deformation screw rod 209 axially parallel to the advancing direction of the crawler wheel 200 is rotatably arranged between the ends, away from each other, of the two mounting blocks 201b, the deformation screw rod 209 points to the other end along one axial end of the deformation screw rod 209 and comprises a forward thread section, a smooth section and a reverse thread section which are equal in length, one deformation slider 207 and the forward thread section of the deformation screw rod 209 form threaded connection fit, the other deformation slider 207 and the reverse thread section of the deformation screw rod 209 form threaded connection fit, the deformation slider 207 is driven to rotate by driving the deformation screw rod 209 to enable the deformation slider 207 to mutually approach and slide along the second mounting block 201b, the push-pull rod 208 pulls the upper and lower H-shaped frames 204 to mutually keep away from each other around the first movable shaft 203 and rotate until the H-shaped frames.

In order to transmit power to the driving wheel 206 and enable the track 210 to run, and in order to transmit power to the deformation screw 209 and enable the track 210 to change from a square shape to a hexagon shape, the power driving device 300 comprises a running driving mechanism 310 for driving the driving wheel 206 to rotate around the axis thereof, and a deformation driving mechanism 320 for driving the deformation screw 209 to rotate around the axis thereof, wherein the running driving mechanism 310 and the deformation driving mechanism 320 are independent from each other.

During the operation of the crawler chassis, the crawler 210 is quadrilateral in the initial state and the ground clearance of the chassis frame 100 is smaller, at this time, the traveling driving mechanism 310 transmits power to the driving wheel 206 and drives the driving wheel 206 to rotate, the crawler wheel 200 is suitable for the whole carrying machine to travel on a flat outdoor ground, when the crawler wheel 200 needs to be caused to carry the whole carrying machine to travel on an uneven outdoor ground, at this time, the deformation driving mechanism 320 transmits power to the deformation screw 209 and drives the deformation screw 209 to rotate, the deformation screw 209 rotates and drives the deformation sliding blocks 207 to slide close to each other along the mounting blocks two 201b, the push-pull rod 208 pulls the vertically symmetrically arranged i-shaped frames 204 to rotate away from each other around the first movable shaft 203 until the two i-shaped frames 204 form a flat angle, the mounting blocks 201 move vertically upwards, the chassis frame 100 moves synchronously upwards and the ground clearance increases, the tensioning mechanism 220 will support the track 210 outward and convert the track 210 from a quadrilateral to a hexagonal shape, with good passage of both the track wheel 200 and chassis frame 100.

The tensioning mechanism 220 comprises a rectangular movable block 221 which is arranged outside the end cover 202b and forms sliding guide fit with the end cover 202b, the length direction of the movable block 221 is parallel to the advancing direction of the track wheel 200, a guide assembly for connecting the movable block 221 and the end cover 202b is arranged between the two, the guide assembly comprises a guide protrusion 202c arranged on the outer side of the end cover 202b and a guide sliding groove 222 arranged on the movable block 221, the guide sliding groove 222 and the guide protrusion 202c form sliding guide fit along the advancing direction of the track wheel 200, a movable shaft three 223 axially parallel to the axial direction of the movable shaft one 203 is rotatably arranged between the two movable blocks 221, the movable shaft three 223 is positioned at one end of the movable block 221, which is far away from the mounting block three 201c, a tensioning wheel 224 is coaxially and fixedly sleeved on the movable shaft three 223, two tensioning wheels 224 are arranged in parallel, the tensioning wheel 224 is positioned between the two movable blocks 221, and, in the initial state, the two tension wheels 224 are located between the driving wheels 206 which are symmetrically arranged up and down, and the outer edges of the tension wheels 224 are flush with the outer edges of the driving wheels 206 up and down, so that the tension wheels 224 can always tension the track 210 by sliding the movable blocks 221 away from the first mounting blocks 201 a.

Specifically, in order to enable the tensioning wheel 224 to tension the track 210, the tensioning mechanism 220 further includes a sleeve 227 fixedly connected to one end of the mounting block three 201c away from the mounting block two 201b, one end of the sleeve 227 is open and arranged and axially parallel to the traveling direction of the track wheel 200, the open end of the sleeve 227 is arranged opposite to the movable shaft three 223, a sleeve block 225 is movably sleeved outside the movable shaft three 223, a support rod 226 coaxially arranged with the sleeve 227 is fixedly arranged on the sleeve block 225, the support rod 226 is movably inserted into the sleeve 227 and forms a sliding guide fit along the traveling direction parallel to the track wheel 200, a tensioning spring 228 is movably arranged in the sleeve 228, one end of the tensioning spring 228 abuts against the bottom of the sleeve 227, the other end of the tensioning spring abuts against the support rod 226, the elastic force of the tensioning spring 228 always points to the support rod 226 from the bottom of the sleeve 227, and the elastic force of the tensioning spring 228 always acts, the tensioner 224 is always urged against and tensioned against the track 210.

More specifically, in order to guarantee the gliding stability of movable block 221 along the direction of direction subassembly, both sides all are provided with articulated connecting rod 229 about the movable block 221, and articulated connecting rod 229 includes that the articulated rod one of tip articulated connection each other is with articulated rod two and the axial of this articulated shaft is on a parallel with the axial of movable shaft 203, and articulated rod one other end rotates to cup joint on movable shaft 203, and the articulated rod two other ends and movable block 221 deviate from the articulated connection of the side of going up/downside of installation piece one 201a one end and the axial of this articulated shaft is on a parallel with the axial of movable shaft 203.

In the initial state, two tension wheels 224 are positioned between the driving wheels 206 which are symmetrically arranged up and down, and the outer edges of the tension wheels 224 are flush with the outer edges of the driving wheels 206 up and down, so that the track 210 is quadrilateral in the initial state, when the I-shaped frames 204 which are symmetrically arranged up and down rotate away from each other around the first movable shaft 203 until the I-shaped frames 204 form a flat angle, in the process, the track 210 is loosened, the tensioning mechanism 220 tensions the track 210 and enables the track 210 to be meshed with the driving wheels 206 for tensioning, specifically, the elastic potential energy of the tensioning spring 228 is gradually released and pushes the supporting rod 226 to slide towards the outside of the sleeve 227, the supporting rod 226 pushes the third movable shaft 223 to move away from the three mounting blocks 201c, the tension wheels 224 and the track 210 are pressed against each other, on one hand, the track 210 is tensioned, on the other hand, the, the climbing capacity of the crawler wheel 200 is improved, and the passing performance of the crawler wheel 200 is indirectly improved.

The supporting mechanism 230 positioned above is used for supporting the track 210 and avoiding the track 210 from falling and deforming under the action of self gravity, the supporting mechanism positioned above is used for supporting the track 210 so as to enable the track 210 to be in close contact with the ground and improve the ground gripping force of the track 210, the supporting mechanism 230 comprises a rectangular fixing block 231 fixedly arranged on the upper end surface/lower end surface of the first mounting block 201a, the length direction of the fixing block 231 is parallel to the advancing direction of the track wheels 200, the width direction of the fixing block is parallel to the spacing direction of the two track wheels 200, rectangular inner sunken grooves and sliding grooves 232 are formed in the upper end surface/lower end surface of the fixing block 231 along the length direction of the fixing block, the sliding grooves 232 are provided with two brackets 233 which are arranged in an outward extending mode and hinged mode along the middle position of the length direction of the groove bottoms of the inner sunken grooves, and the axial direction of the hinged shafts is parallel to the width direction of the fixing block 231, the two brackets 233 are arranged symmetrically in the width direction of the fixed block 231, the two brackets 233 located above form a V-shaped structure with an upward opening, the two brackets 233 located below form a V-shaped structure with a downward opening, the extending ends of the brackets 233 are rotatably provided with the support wheels 234, the axial direction of the rotating shafts is parallel to the width direction of the fixed block 231, the support wheels 234 are arranged side by side in the axial direction thereof, and the support wheels 234 are abutted against the crawler 210.

Specifically, in order to make the support wheel 234 effectively support the crawler 210, the support mechanism 230 further includes a sliding block 235 disposed on one side of the bracket 233 and forming a sliding guiding fit with the sliding groove 232, an upright block 236 vertically extending upwards/downwards is fixedly disposed on the movable block 235, a guide assembly disposed along the vertical direction is disposed between the upright block 236 and the side surface of the bracket 233, the guide assembly includes a guide sliding slot 236a vertically disposed on the upright block 236 and fixedly disposed on the side surface of the bracket 233 and a guide protrusion 236b along the middle position of the extending direction thereof, the guide sliding slot 236a and the guide protrusion 236b form a sliding guiding fit along the vertical direction, in order to effectively support the bracket 233, a fixed cylinder 237 fixedly connected with the sliding block 235 and having an opening at one end is disposed between the sliding block 235 and the sliding groove 232, the fixed cylinder 237 is movably arranged in the sliding groove 232, the openings of the two fixed cylinders 237 symmetrically arranged left and right are deviated from each other, a supporting spring 238 is arranged between the fixed cylinder 237 and the sliding groove 232 along the side wall of the fixed cylinder in the length direction, one end of the supporting spring 238 abuts against the cylinder bottom of the fixed cylinder 237, the other end of the supporting spring abuts against the side wall of the sliding groove 232 in the length direction, and the elastic force of the supporting spring pushes the two fixed cylinders 237 symmetrically arranged left and right to move close to each other all the time.

In the working process of the supporting mechanism 230, the elastic force of the supporting spring 238 always pushes the two fixed cylinders 237 which are symmetrically arranged left and right to move close to each other, the sliding block 235 will slide close to each other along the sliding groove 232, so that the guiding protrusion 236b slides vertically and upwards along the guiding sliding groove 236a, so that the two brackets 233 which are symmetrically arranged left and right rotate close to each other around the hinge shaft thereof, the V-shaped opening formed by the brackets 233 gradually shrinks, so that the supporting wheel 234 can effectively support the crawler 210, it should be noted that the tensioning force of the tensioning mechanism 220 on the crawler 210 is much greater than the supporting force of the supporting mechanism 230 on the crawler 210, the supporting mechanism 230 is adopted in the sense that the supporting mechanism 230 located above supports the crawler 210, the crawler 210 is prevented from falling and deforming under the action of its own gravity, the supporting mechanism located above supports the crawler 210, so that the crawler 210 is in close contact with the ground, the grip of the track 210 is raised.

In order to transmit power to the driving wheels 206 and synchronously rotate the four driving wheels 206 in the same direction to enable the crawler wheel 200 to move forward or backward, the power driving device 300 further comprises a second mounting groove 301 and a third mounting groove 302 which are fixedly arranged on the first mounting block 201a and arranged in a penetrating manner along the pitch direction of the crawler wheel 200, a cover plate 303 used for sealing the openings of the second mounting groove 301 and the third mounting groove 302 is fixedly arranged on the side surface of the first mounting block 201a, the second mounting groove 301 and the cover plates 303 on the two sides form a second mounting inner cavity, the third mounting groove 302 and the cover plates 303 on the two sides form a third mounting inner cavity, and a bracket 304 is fixedly arranged on the cover plate 303 on the inner side.

The advancing driving mechanism 310 comprises a first transmission shaft 311 rotatably arranged between the bracket 304 and the second installation inner cavity, a second transmission shaft 312 rotatably arranged in the second installation inner cavity and a third transmission shaft 313 rotatably arranged in the first installation inner cavity, the axial directions of the first transmission shaft 311, the second transmission shaft 312 and the third transmission shaft 313 are mutually parallel, the axial direction of the first transmission shaft 311 is parallel to the spacing direction of the crawler wheels 200, the output end of the first transmission shaft 311 is positioned in the second installation inner cavity, the driving end is positioned outside the second installation inner cavity, the driving end of the first transmission shaft 311 is connected with the output end of the first power source, the second transmission shaft 312 is provided with two transmission shafts which are symmetrically arranged along the axial direction of the first transmission shaft 311, the two ends of the second transmission shaft 312 along the axial direction are output ends, the output ends extend to the outside of the cover plate 303, the third transmission shaft 313 is positioned between the two first movable shafts 203, the three transmission, the second transmission shafts 312 correspond to the third transmission shafts 313 one by one, the first transmission shafts 311 are used for transmitting power to the second transmission shafts 312 and driving the second transmission shafts 312 to rotate around the own axes, and the second transmission shafts 312 are used for transmitting power to the third transmission shafts 313 and driving the third transmission shafts 313 to rotate around the own axes.

Specifically, the traveling driving mechanism 310 further comprises a first driving gear 314 coaxially and fixedly sleeved on the output end of the first transmission shaft 311, a first driven gear 315 coaxially and fixedly sleeved on the second transmission shaft 312, the first driving gear 314 and the first driven gear 315 are both positioned in the second installation cavity, the first driving gear 314 is meshed with the second driving gear 315, a first belt transmission component 316 is arranged between the output end of the second transmission shaft 312 and the driving end of the third transmission shaft 313, the first belt transmission component 316 comprises a first driving pulley coaxially and fixedly sleeved on the output end of the second transmission shaft 312, a first driven pulley coaxially and fixedly sleeved on the driving end of the third transmission shaft 313, and a first belt arranged between the first driving pulley and the first driven pulley and used for connecting the first driving pulley and the first driven pulley, the traveling driving mechanism 310 further comprises a second driving gear 317 coaxially and fixedly sleeved on the third transmission shaft 313, and a second, the second driving gear 317 and the second driven gear 318 are both located in the first installation cavity and are meshed with each other, the advancing driving mechanism 310 further comprises a second belt transmission assembly 319 arranged between the end position of the first movable shaft 203 and the end position of the second movable shaft 205, and the second belt transmission assembly 319 comprises a second driving belt wheel coaxially and fixedly sleeved on the end position of the first movable shaft 203, a second driven belt wheel coaxially and fixedly sleeved on the end position of the second movable shaft 205 and a second belt wheel arranged between the second driving belt wheel and the second driven belt wheel and used for connecting the second driving belt wheel and the second driven belt wheel.

During operation of the traveling driving mechanism 310, the first driving pulley 314 and the first driven gear 315 cooperate to transmit power of the first transmission shaft 311 to the second transmission shaft 312 and drive the second transmission shaft 312 to rotate around the own axis, the first belt transmission assembly 316 transmits power of the second transmission shaft 312 to the third transmission shaft 313 and drives the third transmission shaft 313 to rotate around the own axis, the second driving gear 317 and the second driving gear 318 cooperate to transmit power of the third transmission shaft 313 to the first movable shaft 203 and drive the first movable shaft 203 to rotate around the own axis, the second belt transmission assembly 319 transmits power of the first movable shaft 203 to the second movable shaft 205 and drives the second movable shaft 205 to rotate around the own axis, so that the driving wheel 206 rotates, the driving wheel 206 drives the track 210 to travel, the rotation direction of the first transmission shaft 311 is changed, and the heating rotation direction of the driving wheel 206 can be controlled, so that the track wheel 200 moves forward or backward.

In order to transmit power to the deformation screw rod 209, the deformation driving mechanism 320 includes a transmission shaft five 321 coaxially and rotatably disposed between the bracket 304 and the mounting cavity three, a hollow transmission shaft four 324 coaxially and rotatably sleeved outside the transmission shaft one 311, an axial direction of the transmission shaft five 321 is parallel to an axial direction of the transmission shaft four 324, an output end of the transmission shaft five 321 is located inside the mounting cavity three, a driving end of the transmission shaft five is located outside the mounting cavity three, a smooth section of the deformation screw rod 209 movably penetrates through the inside of the mounting cavity three, a driving gear three 322 is coaxially and fixedly sleeved on an output end of the transmission shaft five 321, a driven gear three 323 is coaxially and fixedly sleeved on the smooth section of the deformation screw rod 209, the driving gear three 322 and the driven gear three 323 are located inside the mounting cavity three, the driving gear three 322 and the driven gear three 323 are helical gears and are mutually engaged, in order to transmit the power of, a third belt transmission assembly is arranged between the output end of the fourth transmission shaft 324 and the drive end of the fifth transmission shaft 321, the third belt transmission assembly comprises a third driving belt wheel which is coaxially and fixedly sleeved on the output end of the fourth transmission shaft 324, a third driven belt wheel which is coaxially and fixedly sleeved on the drive end of the fifth transmission shaft 321, and a third belt wheel which is arranged between the third driving belt wheel and the third driven belt wheel and is used for connecting the third driving belt wheel and the third driven belt wheel, and the drive end of the fourth transmission shaft 324 is connected with the output end.

In the working process of the deformation driving mechanism 320, the belt transmission assembly three 325 transmits the power of the transmission shaft four 324 to the transmission shaft five 321 and drives the transmission shaft five 321 to rotate, the transmission shaft five 321 drives the driving gear three 322 to rotate, the driving gear three 322 drives the driven gear three 323 to rotate, the transmission gear three 323 drives the deformation screw rod 209 to rotate, the deformation screw rod 209 rotates to deform the crawler wheel 200, the deformation screw rod 209 rotates positively and = moves, the crawler 210 is changed from a quadrangle to a hexagon, the deformation screw rod 209 rotates reversely, the crawler 210 is reset from the hexagon to the quadrangle, and the positive and negative rotation of the screw rod 209 is controlled by the positive and negative rotation of the transmission shaft four 324.

Claims

1. A deformation heightening method of a crawler chassis comprises the following steps:

a normal advancing stage;

the crawler wheel also comprises a mounting block which is arranged horizontally in a rectangular shape, the length direction of the mounting block is parallel to the advancing direction of the crawler wheel, the mounting block comprises a first rectangular mounting block, a second rectangular mounting block and a third oval mounting block which are fixedly connected into a whole, the second mounting block is provided with two mounting blocks and is positioned at two ends of the first mounting block in the length direction, the third mounting block is provided with two mounting blocks and is positioned at two ends of the second mounting block, which are deviated from the first mounting block, the length direction of the first mounting block and the second mounting block is parallel to the advancing direction of the crawler wheel, the width direction of the first mounting block is vertically arranged, the width direction of the first mounting block is larger than that of the second mounting block, the major axis direction of the oval where the third mounting block is located is vertically arranged, the minor axis direction of the, the driving wheel assembly is arranged on the mounting block III, and the chassis frame is fixedly connected with the lower end face of the mounting block I;

the mounting block III is provided with a first penetrating oval mounting groove along the distance direction of the crawler wheels, openings at two ends of the first mounting groove are provided with sealing end covers matched with the first mounting groove, the first mounting groove and the first end cover jointly form a first mounting inner cavity, a first movable shaft with the axial direction parallel to the distance direction of the two crawler wheels is rotatably arranged between the two end covers, the first movable shaft is provided with two movable shafts which are vertically and symmetrically arranged, the end position of the first movable shaft along the axial direction penetrates through the end covers and extends to the outside of the first mounting inner cavity, a rectangular I-shaped frame is rotatably sleeved on the end position of the first movable shaft along the axial direction, one end of the I-shaped frame along the length direction forms an opening I and the other end forms an opening II, the opening I is clamped at the outer sides of the two end covers and is rotatably connected and matched with the first movable shaft, a second movable shaft with the axial direction parallel to the first movable shaft is rotatably arranged between, the driving wheel is coaxially and fixedly sleeved on the second movable shaft and is provided with double wheels, the included angle formed by the I-shaped frames which are vertically and symmetrically arranged and deviate from the second mounting block is an acute angle in the initial state, and the two I-shaped frames which are vertically and symmetrically arranged can be separated from each other around the first movable shaft and rotated and unfolded until the two I-shaped frames form a flat angle;

(II) heightening and advancing;

the crawler wheel further comprises a deformation sliding block sleeved outside the mounting block II, the deformation sliding block and the mounting block II form sliding guide fit along the advancing direction of the crawler wheel, push-pull rods for connecting the upper end face of the deformation sliding block and the middle position of the I-shaped frame positioned above the deformation sliding block along the length direction of the I-shaped frame and between the lower end face of the deformation sliding block and the middle position of the I-shaped frame positioned below the deformation sliding block along the length direction of the I-shaped frame are arranged, one end of each push-pull rod is hinged with the upper end face/lower end face of the deformation sliding block, the axial direction of a hinge shaft formed by the hinged position of the push-pull rod and the deformation sliding block is parallel to the axial direction of the first movable shaft, the other end of each push-pull rod is hinged with the middle position of the I-shaped frame along the length direction of the hinge shaft, the axial direction of the hinge shaft formed by the push-pull rod and the I-shaped frame is parallel to the The deformation screw rod comprises a forward thread section, a smooth section and a reverse thread section which are equal in length along the axial direction from one end to the other end of the deformation screw rod, wherein one deformation sliding block and the forward thread section of the deformation screw rod form threaded connection fit, the other end deformation sliding block and the reverse thread section of the deformation screw rod form threaded connection fit,

the upper side and the lower side of the movable block are both provided with hinged connecting rods, each hinged connecting rod comprises a first hinged rod and a second hinged rod, the end parts of the first hinged rod and the second hinged rod are hinged and connected, the axial direction of a hinged shaft formed by the hinged positions of the first hinged rod and the second hinged rod is parallel to the axial direction of the first movable shaft, the other end of the first hinged rod is rotatably sleeved on the first movable shaft, the other end of the second hinged rod is hinged and connected with the upper side face/lower side face of one end, away from the mounting block, of the movable block, and the axial direction of a hinged shaft formed by the hinged positions;

2. The method as claimed in claim 1, wherein the supporting mechanism comprises a rectangular fixing block fixedly mounted on an upper/lower end surface of the mounting block, the length direction of the fixing block is parallel to the traveling direction of the track wheels, the width direction of the fixing block is parallel to the distance direction between the two track wheels, the upper/lower end surface of the fixing block is provided with two rectangular inner sunken grooves and two sliding grooves along the length direction, the sliding grooves are respectively located on one side of the inner sunken grooves, the middle position of the groove bottom of the inner sunken groove along the length direction is hinged with an outwardly extending bracket, the axial direction of a hinge shaft formed by the hinged position of the inner sunken groove and the bracket is parallel to the width direction of the fixing block, the two brackets are symmetrically arranged along the width direction of the fixing block, the two brackets located above form an upwardly opening V-shaped structure, the two supports located below form a V-shaped structure with a downward opening, the extending ends of the supports are rotatably provided with supporting wheels, the axial direction of the rotating shafts is parallel to the width direction of the fixing block, the supporting wheels are arranged in parallel along the axial direction of the supporting wheels, and the supporting wheels are abutted to the crawler belt.

3. The deformation heightening method of the crawler chassis according to claim 1 or 2, wherein the supporting mechanism further comprises a sliding block disposed at one side of the frame and forming a sliding guiding fit with the sliding groove, the sliding block is fixedly provided with a vertical block extending vertically upwards/downwards, a guiding component disposed along the vertical direction is disposed between the vertical block and the side surface of the frame, the guiding component comprises a guiding chute disposed vertically on the vertical block, a guiding protrusion disposed fixedly on the side surface of the frame along the middle position of the extending direction thereof, the guiding chute and the guiding protrusion form a sliding guiding fit along the vertical direction, a fixed cylinder fixedly connected with the sliding block and having an opening at one end thereof is disposed between the sliding block and the sliding groove, the fixed cylinder is movably disposed in the sliding groove, and openings of the two fixed cylinders symmetrically disposed left and right are disposed away from each other, the supporting spring is arranged between the side walls of the fixed cylinder and the sliding groove along the length direction of the fixed cylinder, one end of the supporting spring is abutted against the cylinder bottom of the fixed cylinder, the other end of the supporting spring is abutted against the side wall of the sliding groove along the length direction of the sliding groove, and the elastic force of the supporting spring always pushes the two fixed cylinders which are symmetrically arranged left and right to move close to each other.

4. The deformation heightening method of the crawler chassis according to claim 1, wherein the crawler chassis comprises a power driving device which is installed on the chassis frame and provides power for the crawler wheels, the power driving device further comprises a second installation groove and a third installation groove which are fixedly arranged on the first installation block and penetrate through the first installation block along the distance direction of the crawler wheels, a cover plate for sealing the openings of the second installation groove and the third installation groove is installed on the side surface of the first installation block, the second installation groove and the cover plates on the two sides form a second installation cavity, the third installation groove and the cover plates on the two sides form a third installation cavity, and a bracket is fixedly arranged on the cover plate on the inner side.

5. The deformation heightening method of a crawler chassis according to claim 1, wherein the traveling driving mechanism includes a first transmission shaft rotatably disposed between the bracket and the second mounting cavity, a second transmission shaft rotatably disposed in the second mounting cavity, and a third transmission shaft rotatably disposed in the first mounting cavity, axial directions of the first transmission shaft, the second transmission shaft, and the third transmission shaft are parallel to each other, an axial direction of the first transmission shaft is parallel to a pitch direction of the crawler wheels, an output end of the first transmission shaft is located in the second mounting cavity, and a drive end of the first transmission shaft is located outside the second mounting cavity, the drive end of the first transmission shaft is connected to an output end of the first power source, the second transmission shaft is provided with two transmission shafts and symmetrically arranged along the axial direction of the first transmission shaft, both ends of the second transmission shaft along the axial direction thereof are output ends, and the output ends, the two ends of the third transmission shaft along the axial direction are driving ends, the driving ends extend to the outside of the end cover, the second transmission shafts correspond to the third transmission shafts one by one, the first transmission shafts are used for transmitting power to the second transmission shafts and driving the second transmission shafts to rotate around the axis of the second transmission shafts, and the second transmission shafts are used for transmitting power to the third transmission shafts and driving the third transmission shafts to rotate around the axis of the second transmission shafts.

6. The deformation heightening method of a crawler chassis according to claim 5, wherein the traveling driving mechanism further comprises a first driving gear coaxially and fixedly sleeved on an output end of the first driving shaft, a first driven gear coaxially and fixedly sleeved on a second driving shaft, both the first driving gear and the first driven gear are located in the second installation cavity, the first driving gear is engaged with the first driven gear, a first belt transmission assembly is arranged between an output end of the second driving shaft and a third driving end of the third driving shaft, the first belt transmission assembly comprises a first driving pulley coaxially and fixedly sleeved on an output end of the second driving shaft, a first driven pulley coaxially and fixedly sleeved on the third driving shaft, and a first belt arranged between the first driving pulley and the first driven pulley for connecting the first driving pulley and the first driven pulley, the traveling driving mechanism further comprises a second driving gear coaxially and fixedly sleeved on the third driving shaft, and a second driven gear coaxially and, the second driving gear and the second driven gear are both located in the first installation cavity and are meshed with each other, the advancing driving mechanism further comprises a second belt transmission assembly arranged between one end position of the movable shaft and the other end position of the movable shaft, the second belt transmission assembly comprises a second driving belt wheel coaxially fixedly sleeved on one end position of the movable shaft, a second driven belt wheel coaxially fixedly sleeved on the end position of the movable shaft and a second belt wheel arranged between the second driving belt wheel and the second driven belt wheel and used for connecting the second driving belt wheel and the second driven belt wheel.

7. The deformation heightening method of a crawler chassis according to claim 1, wherein the deformation driving mechanism comprises a transmission shaft five coaxially rotatably disposed between the bracket and the mounting cavity three, a hollow transmission shaft four coaxially rotatably sleeved outside the transmission shaft one, the axial direction of the transmission shaft five is parallel to the axial direction of the transmission shaft four, the output end of the transmission shaft five is located inside the mounting cavity three, the driving end is located outside the mounting cavity three, the smooth section of the deformation screw movably penetrates through the inside of the mounting cavity three, a driving gear three is coaxially and fixedly sleeved on the output end of the transmission shaft five, a driven gear three is coaxially and fixedly sleeved on the smooth section of the deformation screw, the driving gear three and the driven gear three are located inside the mounting cavity three, the driving gear three and the driven gear three are helical gears and are engaged with each other, a belt transmission assembly three is disposed between the output end of the transmission shaft four and, the belt transmission assembly III comprises a driving belt wheel III which is coaxially and fixedly sleeved on the four output ends of the transmission shaft, a driven belt wheel III which is coaxially and fixedly sleeved on the five driving end of the transmission shaft, and a belt III which is arranged between the driving belt wheel III and the driven belt wheel III and is used for connecting the driving belt wheel III and the driven belt wheel III, and the driving end of the transmission shaft IV is connected with the output end of the second power source.